1. The problem statement, all variables and given/known data Here is the system I am looking at 2. Relevant equations So I worked out a formula for the steady state error and put it in a form similar to masons gain formula 3. The attempt at a solution But when I try and draw a block diagram and work out e I get confused by forward path and loop gain. It's not a question I have been asked, I am just playing, perhaps I cannot apply masons gain to my drawing? Or my drawing is wrong?